Method for conducting a pendulum test using a pendulum device and pendulum test stand

Abstract

The invention relates to a method for performing a pendulum test using a pendulum device (2) comprising a support device (3), at least two pendulum arms (4, 5) and a pendulum body (6), in which a motor vehicle (16) is subjected to the pendulum device (2) via the pendulum body (6), comprising the steps: determining (S1) a length (L) of the pendulum arms (4, 5), determining (S2) a first moment of inertia ( θ z , PA 1 A ) one of the pendulum arms (4), determining (S3) a second moment of inertia ( θ z , PA 2 B ) of the second of the pendulum arms (5), Determining (S4) a pendulum body mass (m imp ) of the pendulum body (6) and determining (S5) a target mass of a payload (21) (m pay ) and securing (S6) the payload 21 (m pay), which has the determined target mass, on the pendulum body (6), and / or determining (S7) a target value of an initial deflection angle (φ0) and deflecting (S8) the pendulum body (6) with the determined target value as the initial deflection angle (φ0). Furthermore, the invention relates to a pendulum test stand (1).

Description

[0001] The invention relates to a method for performing a pendulum test using a pendulum device comprising a support structure, at least two pendulum arms and a pendulum body according to claim 1. Furthermore, the invention relates to a pendulum test stand designed for performing such a method according to claim 11.

[0002] Pendulum tests are known from the general state of the art. Such a pendulum test is performed, for example, using a pendulum device that includes a pendulum bob. During the test, the pendulum device uses this bob to impact a component of a motor vehicle, such as a bumper. The pendulum bob is set into a pendulum motion, causing it to collide with the vehicle component and thus impact it. Such a pendulum test serves, for example, to verify the requirements for a motor vehicle, such as its front and / or rear, in a low-speed crash.Such pendulum tests are described, for example, in UN ECE-R42, US Standard Part 581, and GB17354-2024, which can represent essential legal frameworks in the area of ​​low-speed collisions. Requirements described in these regulations can be verified using pendulum test equipment to ensure that a new vehicle model meets specified criteria. In such a pendulum test, also referred to simply as a test, a low-speed collision is simulated, for example, by repeated impacts of a pendulum, in particular the pendulum bob, on the front and / or rear of the vehicle.The aforementioned regulations define, for example, specific requirements for the pendulum, including an effective pendulum mass, a center of percussion at the point of impact on the vehicle, a pendulum velocity, and compensation for inertial forces during force measurement. A key challenge in conducting pendulum tests is ensuring they are as precise and comparable as possible. This can pose a particular challenge for development service providers working with vehicle manufacturers, due to a lack of general consensus and uncertainty regarding how to correctly determine, calculate, and implement the requirements for pendulum tests.Furthermore, it is particularly important that, despite the use of different pendulum testing devices, the same test conditions can be provided in order to ensure consistent and comparable test results in the pendulum tests.

[0003] From DE 10 2014 002 526 A1 a method for carrying out a pendulum test on a motor vehicle by means of a pendulum device comprising a support device, two pendulum arms and a pendulum body is already known.

[0004] The object of the invention is to provide a method for carrying out a pendulum test using a pendulum device and a pendulum test stand, so that the pendulum test can be carried out with particular precision.

[0005] This problem is solved according to the invention by a method for performing a pendulum test using a pendulum device with the features of claim 1 and by a pendulum test stand with the features of claim 11. Advantageous embodiments of the invention are the subject of the dependent claims and the description.

[0006] A first aspect of the invention relates to a method for performing a pendulum test using a pendulum device. The pendulum device can also simply be referred to as a pendulum or a pendulum testing device. For example, the pendulum device is a component of a pendulum test rig. The pendulum device has at least two pendulum arms, at least one support structure, and at least one pendulum body. Preferably, the support structure, the pendulum arms, and the pendulum body are designed separately from one another. In the method, that is, in particular in the pendulum test, a motor vehicle, in particular a bumper of the motor vehicle, is subjected, for example, at least indirectly or directly, to the pendulum device via the pendulum body, in particular mechanically.In other words, during the pendulum test, the pendulum body, particularly when deflected and thus oscillating, collides, at least indirectly or directly, with the motor vehicle, for example, with the bumper. The bumper is designed, for example, as a front bumper or a rear bumper. The impact of the pendulum device on the motor vehicle via the pendulum body means, in particular, that at least one component of the motor vehicle, such as the bumper, is subjected to at least one impulse from the pendulum body. This impulse can be referred to as a collision force. The motor vehicle is, for example, a car, in particular a passenger car.

[0007] The procedure comprises at least the following steps, which are carried out, for example, at least partially by means of at least one electronic computing device, the electronic computing device being, for example, part of the pendulum test rig: - Determining, in particular calculating or measuring the length of the pendulum arms; - Determining, in particular calculating, a first moment of inertia of a first pendulum arm, which is pivotable at a first attachment point about a first pivot axis relative to the support device, in particular held directly on the support device, with respect to a pivoting of the first pendulum arm about the first pivot axis; - Determining, in particular calculating, a second moment of inertia of the second of the pendulum arms, which is pivotably held at a second attachment point about a second pivot axis relative to the support device, in particular directly, with reference to a pivoting of the second pendulum arm about the second pivot axis; - Determining, in particular calculating or measuring, a pendulum body mass of the pendulum body which is articulated, in particular directly, with the first pendulum arm at a first coupling point and articulated, in particular directly, with the second pendulum arm at a second coupling point.

[0008] This includes, in particular, the following: The length of the pendulum arms is determined, for example, in one of the first steps. In other words, the length of the pendulum arms is determined, for example, by measurement.

[0009] The first moment of inertia of the first pendulum arm with respect to its pivoting about the first pivot axis is determined, for example, in a second step, and in particular calculated. In other words, the first moment of inertia of the first pendulum arm is determined. The fact that the first moment of inertia is with respect to the pivoting of the first pendulum arm about the first pivot axis means, in particular, that the first moment of inertia is a moment of inertia relative to the pivoting of the first pendulum arm about the first pivot axis, especially at the first mounting point. Thus, the first moment of inertia is, for example, the inertia of the first pendulum arm with respect to a change in its angular velocity when the first pendulum arm pivots about the first pivot axis. The first pendulum arm is pivotably mounted on the support structure at the first mounting point about the first pivot axis relative to the support structure.This means that the first pendulum arm is pivotally connected to the support structure at the first attachment point, in particular directly. In other words, the first pendulum arm is attached to the support structure at the first attachment point, in particular directly, and the first pendulum arm is pivotable or pivots about the first pivot axis relative to the support structure.

[0010] The second moment of inertia of the second pendulum arm with respect to the pivoting of the second pendulum arm about the second pivot axis is determined, for example, in a third of the steps, and in particular calculated. In other words, the second moment of inertia of the second pendulum arm is determined. The phrase "the second moment of inertia with respect to the pivoting of the second pendulum arm about the second pivot axis" means, in particular, that the second moment of inertia is a moment of inertia of the second pendulum arm with respect to the pivoting of the second pendulum arm about the second pivot axis, especially at the second mounting point. Thus, the second moment of inertia is, for example, a moment of inertia of the second pendulum arm with respect to a change in its angular velocity during pivoting about the second pivot axis.The pivoting of each pendulum arm about its respective pivot axis refers in particular to the rotation of the respective pendulum arm at its respective mounting point relative to the support structure. The second pendulum arm is pivotally mounted to the support structure at its second mounting point about its second pivot axis relative to the support structure. This means that the second pendulum arm is pivotally connected to the support structure at its second mounting point, in particular directly. In other words, the second pendulum arm is attached to the support structure at its second mounting point, in particular directly, and is pivotable or is pivoted about its second pivot axis relative to the support structure.

[0011] The mass of the pendulum bob is determined, for example, in a fourth step, for instance, by measurement. In other words, the mass of the pendulum bob is ascertained. The mass of the pendulum bob can be referred to as the mass of the pendulum bob. The pendulum bob is pivotally, and in particular directly, coupled to the first pendulum arm at a first coupling point, which is spaced apart from the first mounting point. This means that the pendulum bob and the first pendulum arm are pivotally connected to each other at the first coupling point, and in particular directly. Furthermore, the pendulum bob is pivotally, and in particular directly, coupled to the second pendulum arm at a second coupling point, which is spaced apart from the second mounting point. This means that the pendulum bob and the second pendulum arm are pivotally connected to each other at the second coupling point, and in particular directly.

[0012] In order to perform the pendulum experiment with particular precision, the following steps are carried out, which are at least partially performed using electronic computing equipment: - Determining, in particular calculating, a target mass of a payload to be attached to the pendulum body, depending on the determined length, the determined moments of inertia, the determined mass of the pendulum body, and a reference mass, and attaching the payload, which has the determined target mass, to the pendulum body, and / or - Determining, in particular calculating, a target value of an initial deflection angle as a function of the determined length, as a function of the determined moments of inertia, as a function of the determined pendulum body mass, in particular as a function of a payload mass, and as a function of an impact speed with which the pendulum body is to collide or collides with the motor vehicle during the pendulum test, and deflecting the pendulum body with the determined target value as the initial deflection angle.

[0013] This can be understood to mean, in particular, the following: The target mass of the payload is determined, for example in a fifth step, particularly by means of an electronic computing device, as a function of the determined length, the determined moments of inertia, the determined pendulum mass, and the reference mass. In other words, the determined length, the determined moment of inertia, the determined pendulum mass, and the reference mass are used as input variables to determine, particularly as an output variable, the target mass of the payload, particularly by means of an electronic computing device.The payload is attached to the pendulum body, for example, in a sixth step, either directly or indirectly. This means that when the pendulum body is moved relative to the support structure, the pendulum body, along with the payload attached to it, moves relative to the support structure. The payload has the determined target mass. This means that the payload is selected and / or configured such that it has the determined target mass. In other words, the actual mass of the payload to be attached to, or already attached to, the pendulum body corresponds to the determined target mass.

[0014] Alternatively or additionally, for example in a seventh step, the target value of the output deflection angle is determined, in particular calculated, as a function of the determined length, the determined moments of inertia, the determined pendulum mass, and the impact velocity, and, for example, as a function of the payload mass, in particular the determined target payload mass. In other words, the determined length, the determined moments of inertia, the determined pendulum mass, and the impact velocity are used as input variables, in particular by means of the electronic computing device, to determine or calculate the target value of the output deflection angle, in particular as an output variable.The impact velocity is the speed at which the pendulum bob collides with the motor vehicle, and in particular with the component, during the pendulum test. Thus, the impact velocity is understood to be the speed at which the pendulum bob is traveling immediately before the collision with the motor vehicle, and in particular with the component, during the pendulum test. The impact velocity can therefore also be referred to as the collision velocity. The pendulum bob is deflected, for example, at one of the eighth steps, with the determined target value as the initial deflection angle. This means that the pendulum bob is deflected according to the determined target value as the initial deflection angle, and in particular, actually deflected according to this value. In other words, the determined target value is set or used as the initial deflection angle, that is, in particular, as the actual value of the initial deflection angle, during the pendulum test.In other words, in the pendulum test, the actual initial deflection angle corresponds to the determined target value.

[0015] The term "pendulum body mass" refers in particular to the empty weight of the pendulum body, that is, for example, the empty weight of a basket, especially one moving translationally, designed to carry the payload. A reference mass refers in particular to a specification, for example, a legal one, for the mass which, in a model of physical motion, is intended to strike the motor vehicle at a predetermined speed. An effective pendulum mass refers to the mass that "provides" the pendulum device, in particular the pendulum body together with the payload, with its translationally and rotationally moving components. The effective pendulum mass is preferably identical to the reference mass. The mass of the payload can be defined as m payor m Z be designated.

[0016] The invention is based in particular on the following findings and considerations. The regulations already mentioned above, UN ECE-R42, US Part-581, and GB17354-2024, specify particular requirements for conducting pendulum tests, also known as pendulum tests. However, these regulations contain, for example, partially flawed or unclear provisions, especially regarding the effective pendulum mass, the center of percussion, the pendulum velocity, and the compensation of inertial forces. Furthermore, there are only a few publications on this topic, and those that exist typically contain significant errors. If incorrect calculation methods are used, this can lead to inaccurate test results in the pendulum test.Conventional models and procedures for conducting pendulum tests are often based on simplified assumptions that, in particular, fail to consider all relevant physical parameters. Such shortcomings can lead to differing interpretations and implementations in pendulum tests, which can significantly impair the consistency and comparability of test results. For example, a precise determination, especially a calculation, of the effective pendulum mass is crucial for the correct execution of pendulum tests. Conventional calculation formulas, for instance, assume pendulum arms whose cross-section is negligible compared to their length and which, moreover, does not change along their length. This cannot reflect reality, for example, because the arms have bearings at their upper and lower ends.Incorrect determination of the payload mass can lead to non-compliance with requirements, such as over-compliance (overengineering).

[0017] The aforementioned disadvantages can be avoided by means of the method according to the invention. The target mass of the payload can be determined with particular precision using this method, which allows the pendulum test to be carried out with exceptional accuracy and, in particular, with good comparability. This results in particularly meaningful test results from the pendulum test. By determining the target value of the initial deflection angle, the target value of the initial deflection angle can be determined with exceptional precision using this method, which allows the pendulum test to be carried out with exceptional accuracy and, in particular, with exceptionally high reproducibility. This results in particularly meaningful test results from the pendulum test. A fundamental principle of the invention is, in particular, a comprehensive and detailed analysis and modeling of the kinematics and kinetics of the pendulum.By deriving and calculating the aforementioned requirements, the method can be applied to any pendulum to ensure compliance with legal regulations in a particularly precise manner. For this purpose, a model of the pendulum is developed. This model takes into account, for example, the mass of the pendulum arms and the kinematics of the impact body, leading to a particularly precise description of the pendulum motion of the pendulum body, especially including the load. Through these measures, the method according to the invention can contribute to increasing the comparability of test results and facilitating the validation of pendulum tests, which ultimately ensures compliance with legal regulations in a particularly reliable manner.Furthermore, a general equation can be derived to calculate the effective pendulum mass, enabling its determination by considering the moments of inertia and the length of the respective pendulum arms. This ensures that the regulatory requirements are met with exceptional precision. Uncertainties and ambiguities in the execution of the pendulum test can be eliminated in a particularly reliable manner. This includes, for example, uncertainties regarding how the requirements of the pendulum test should be correctly calculated and implemented. This significantly improves the consistency of the test results. Moreover, the comparability and validation of the pendulum tests can be significantly enhanced, thereby ensuring compliance with legal regulations.

[0018] In a further embodiment, the reference mass corresponds to the total mass of all components of the pendulum device that are to be moved or are moved during the pendulum test, particularly relative to the support structure. In other words, the reference mass corresponds to the effective total mass of the pendulum or the pendulum device. The total mass, or effective pendulum mass, includes at least the mass of the pendulum body, the mass of the payload, and the mass of the pendulum arms. The reference mass can be measured, or it can be specified for the pendulum test, as it may, for example, result from a requirement of the pendulum test. Alternatively or additionally, in a further embodiment, the reference mass corresponds to the vehicle mass of the motor vehicle. In other words, the reference mass and the vehicle mass are equal.Vehicle mass refers specifically to the mass of the motor vehicle. Because the reference mass corresponds to the total mass and / or the vehicle mass, the target mass of the payload can be determined with particular precision.

[0019] To determine the payload mass with particular precision, a further embodiment provides that the determination of the payload mass is based on an energy conservation approach for kinetic energy at a collision point in time, at which the pendulum device, via the pendulum body, impacts the motor vehicle, in particular the component. It is provided that, in this energy conservation approach, the sum of the translational kinetic energy of the pendulum body, particularly at the collision point, the translational kinetic energy of the payload, particularly at the collision point, and the rotational kinetic energy of the pendulum arms, particularly at the collision point, is equated with the kinetic energy, in particular the translational kinetic energy, of a reference body possessing the reference mass.In other words, determining the mass of the payload is based on the translational kinetic energy of the pendulum bob, the translational kinetic energy of the payload, the rotational kinetic energy of the pendulum arms, and the kinetic energy of the reference body. Furthermore, this energy conservation approach takes into account, for example, the potential energy of the pendulum bob, the potential energy of the payload, and the potential energy of the pendulum arms, particularly at a deflection time different from the time of collision, at which the pendulum bob is deflected, for example, with the initial deflection angle, especially according to the determined target value.

[0020] In order to determine the target payload with particular precision, it is further provided that the target payload mass is determined by calculation using the following formula, in particular by the electronic computing device: mpay=mref−(θz,PA1AL2+θz,PA2BL2)−mimp

[0021] This is m pay the target mass of the payload, m ref the reference mass, θz,PA1A the first moment of inertia, θz,PA2B the second moment of inertia, L the length of the pendulum arms and m imp The mass of the pendulum bob. In other words, the aforementioned formula is used to calculate the target mass of the payload, particularly by means of the electronic computing device.

[0022] To determine the target value of the output deflection angle with particular precision, a further embodiment provides that the determination of the target value of the output deflection angle, particularly by means of the electronic computing device, is dependent on the determined target mass of the payload. In other words, the determined target mass of the payload is used as an input variable to calculate the target value of the output deflection angle, preferably as an output variable, using the electronic computing device. This allows the mass of the payload to be taken into account when calculating the target value of the output deflection angle, thus enabling a particularly precise determination of this target value.

[0023] To determine the target value of the initial deflection angle with particular precision, a further embodiment provides for determining a first distance between the center of mass of the first pendulum arm and the first mounting point, and a second distance between the center of mass of the second pendulum arm and the second mounting point. This determination can be, for example, a measurement. In other words, the first and second distances are determined, with the first distance extending between the center of mass of the first pendulum arm and the first mounting point, and the second distance extending between the center of mass of the second pendulum arm and the second mounting point.Furthermore, it is provided that the target value of the output deflection angle is determined as a function of the determined distances, that is, in particular as a function of the determined first distance and the determined second distance, and, for example, as a function of the acceleration due to gravity. In other words, the determined first distance and the determined second distance are used as input variables to calculate the target value of the output deflection angle, particularly as an output variable, using the electronic computing device.

[0024] To determine the target value of the output deflection angle with particular precision, a further embodiment provides that a first mass of the first pendulum arm, and especially of the first mounting point, is determined (e.g., by measurement), and a second mass of the second pendulum arm, and especially of the second mounting point, is determined (e.g., by measurement). The target value of the output deflection angle is then determined as a function of the determined first mass and as a function of the determined second mass. In other words, the first mass of the first pendulum arm and the second mass of the second pendulum arm, for example, including the respective mass of each mounting point, are determined. These determined masses are used as input variables to calculate the target value of the output deflection angle, particularly as an output variable, using the electronic computing device.The first mass of the first pendulum arm can be expressed as m. PA1 The second mass of the second pendulum arm can be denoted as m PA2 be designated.

[0025] To determine the target value of the initial deflection angle with particular precision, a further embodiment provides for determining the target value of the initial deflection angle using a model that describes or characterizes the deflection of the pendulum bob. This model is based on at least one differential equation derived using the Lagrange equation of the second kind, which describes a second time derivative of the deflection angle of the pendulum bob. The second time derivative is understood to be, in particular, a second derivative of the deflection angle with respect to time. Thus, for example, the relevant differential equations are derived using the Lagrange equation of the second kind, and the solution of these differential equations is performed, for example, using a small-angle approximation, which is particularly permissible.Free-swinging experiments have shown, in particular, that the pendulum bob is damping-free for practical purposes (i.e., it swings "forever," so to speak). Therefore, for example, there are no terms dependent on φ̇. The real pendulum can thus obey the laws of harmonic oscillation.

[0026] In order to determine the target value of the output deflection angle with particular precision, a further embodiment provides that the differential equation is based on an energy conservation approach in which the total kinetic energy of the pendulum device is described by a sum of translational kinetic energy of the pendulum body, translational kinetic energy of the payload and rotational kinetic energy of the pendulum arms, in particular in conjunction with a corresponding total potential energy of the components of the pendulum device, in particular a potential energy of the pendulum body, a potential energy of the payload and a potential energy of the pendulum arms.

[0027] In order to determine the target value of the output deflection angle with particular precision, it is further provided that the determination of the output deflection angle is carried out by calculation using the following formula, in particular using the electronic computing device: φ0=arccos(1−vimp22⋅Cp⋅L2)

[0028] In other words, the aforementioned formula is used to calculate the target value of the output deflection angle. Here, v imp the collision speed. Under C p In particular, a pendulum constant is understood. For C p The following relationship applies: Cp=g[(mimp+mpay)⋅L+mPA1⋅LCOG1+mPA2⋅LCOG2][θz,PA1A+θz,PA2B+(mimp+mpay)⋅L2]

[0029] Here, g is the acceleration due to gravity, which can be understood in particular as a local gravitational acceleration. Furthermore, L COG1 the first distance. L COG2This is the second distance. The distances are explained and illustrated in more detail in the figure description.

[0030] A second aspect of the invention relates to a pendulum test stand configured for carrying out a method according to the first aspect of the invention. This means that the pendulum test stand is specifically designed to carry out the method according to the first aspect of the invention. Thus, for example, the pendulum test stand is used to carry out the method according to the first aspect of the invention. Preferably, the pendulum test stand has at least one pendulum device comprising at least one support structure, at least two pendulum arms, and at least one pendulum bob. Preferably, the pendulum test stand has at least one electronic computing device. Advantages and advantageous embodiments of the first aspect of the invention are to be considered as advantages and advantageous embodiments of the second aspect of the invention, and vice versa.

[0031] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures alone, are not only usable in the combinations specified, but also in other combinations or on their own.

[0032] The invention will now be explained in more detail with reference to a preferred embodiment and the drawings. The drawings show: Fig. 1 a schematic side view of a pendulum test stand according to the invention; and Fig. 2 a schematic side view of a pendulum device of a pendulum test stand according to the invention, wherein the pendulum device is in a non-displaced state; and Fig. 3 a schematic side view of a pendulum device of a pendulum test stand according to the invention, wherein the pendulum device is in a deflected state; and Fig. 4 a schematic representation to illustrate process steps of a process according to the invention; and Fig. 5 a schematic diagram to illustrate a target value of an output deflection angle determined by a method according to the invention as a function of a payload mass; and Fig. 6 a schematic partial view of a pendulum device of a pendulum test stand according to the invention to illustrate a height adjustment device.

[0033] In the figures, identical or functionally equivalent elements are provided with the same reference symbols.

[0034] Fig. Figure 1 shows a schematic side view of a pendulum test stand 1, which includes a pendulum device 2. The pendulum test stand 1 and / or the pendulum device 2 is intended for carrying out a pendulum test, which in Fig. 1 is illustrated.

[0035] The pendulum device 2 has a support structure 3. Furthermore, the pendulum device 2 has at least two, for example exactly two or four, pendulum arms 4, 5, which are formed separately from one another and separately from the support structure 3. A first of the pendulum arms 4 can be referred to as the front pendulum arm. The second of the pendulum arms 5 can be referred to as the rear pendulum arm. Furthermore, the pendulum device 2 has at least one pendulum body 6, which in this case is formed separately from the pendulum arms 4, 5 and, in particular, separately from the support structure 3.

[0036] The first pendulum arm 4 is pivotable at a first attachment point A about a first pivot axis 7 relative to the support structure 3, and in particular is held directly on the support structure 3. This is achieved, for example, via a bearing assembly 8, which forms, in particular, the first attachment point A and is designed, for example, as a pivot bearing. In this case, the first pendulum arm 4 is connected to the support structure 3 from below in the vehicle's upward direction 9 via the first attachment point A, and in particular by means of the first bearing assembly 8. Furthermore, the second pendulum arm 5 is pivotable at a second attachment point B about a second pivot axis 10 relative to the support structure 3 and is held, in particular, directly on the support structure 3. This is achieved, for example, via a second bearing assembly 11, which is designed, for example, as a pivot bearing.For example, the second pendulum arm 5 is connected to the support structure 3 from below in the vehicle's vertical direction 9 via the second mounting point B, in particular by means of the second bearing assembly 11. Preferably, the mounting points A, B, which can be referred to as bearing points, are spaced apart from each other, for example in the vehicle's longitudinal direction 12. In particular, the pivot axes 7, 10 are spaced apart from each other, for example in the vehicle's longitudinal direction 12. Preferably, the pivot axes 7, 10 run at least substantially parallel to each other. In particular, the pivot axes 7, 10 extend at least substantially parallel to a vehicle transverse direction 13. Alternatively, it is possible that the pivot axes 7, 10 extend obliquely, for example at an angle of 30 degrees, to the vehicle's longitudinal direction 12. Preferably, the mounting points A, B are arranged at the same height with respect to the vehicle's vertical direction 9.

[0037] The pendulum body 6 is pivotally, and in particular directly, coupled to the first pendulum arm 4 at a first coupling point C. The first pendulum arm 4 is pivotable about a third pivot axis 14 relative to the pendulum body 6. Furthermore, the pendulum body 6 is pivotally, and in particular directly, coupled to the second pendulum arm 5 at a second coupling point D. The second pendulum arm 5 is pivotable about a fourth pivot axis 15 relative to the pendulum body 6. The respective coupling points C and D are formed, for example, by a bearing, which is in particular designed as a pivot bearing. Preferably, the coupling points C and D are spaced apart from each other, in particular in the longitudinal direction 12 of the vehicle. For example, the first mounting point A is arranged at one end on the first pendulum arm 4, and the first coupling point C is arranged at the other end on the first pendulum arm 4.For example, the second attachment point B is arranged at one end on the second pendulum arm 5 and the second coupling point D is arranged at the other end on the second pendulum arm 5.

[0038] Thus, the pendulum body 6 is movably attached to the support device 3 via the pendulum arms 4, 5, in particular by means of the fastening points A, B and the coupling points C, D.

[0039] Preferably, the third and fourth pivot axes 14, 15 run at least substantially parallel to each other. In the present case, the third and fourth pivot axes 14, 15 run at least substantially parallel to the vehicle's transverse direction 13. In particular, the third and fourth pivot axes 14, 15 are spaced apart from each other, for example in the vehicle's longitudinal direction 12.

[0040] In Fig. 2 and Fig. Figure 3 shows the pendulum device 2 in a schematic side view. As shown, particularly in Fig. 2 and Fig. As can be seen in Figure 3, each pendulum arm 4, 5 has a length L, where in this case the lengths L, that is, the length L of the first pendulum arm 4 and the length L of the second pendulum arm 5, are equal. The length L of the first pendulum arm 4 extends from the first attachment point A to the first coupling point C. Furthermore, the length L of the second pendulum arm 5 extends from the second attachment point B to the second coupling point D.

[0041] In the pendulum test, a motor vehicle 16, in this case a front bumper of the motor vehicle 16, is subjected to action by the pendulum device 2 via the pendulum body 6. For this purpose, the pendulum body 6 has an impact area 17 over which the pendulum body 6, in particular the moving one, collides with the motor vehicle 16, in particular with the front bumper, in order to subject the motor vehicle 16 to action. The movement of the pendulum body 6 is understood to mean, in particular, its oscillation. The subjection of action to the motor vehicle 16, or the collision of the pendulum body 6 with the motor vehicle 16, takes place, for example, in a first position 18 of the pendulum body 6. Fig. 1 and Fig. In position 2, the pendulum bob 6 is in the first position 18. This first position 18 corresponds, for example, to a rest position, which the pendulum bob 6 assumes automatically when the movement of the pendulum bob 6 ceases. Accordingly, the first position 18 is, in particular, a non-displaced position of the pendulum bob 6.

[0042] In Fig. In step 3, the pendulum body 6 is in a second position 19, which differs from the first position 18 and is, in particular, a deflected position. During the pendulum test, for example, the pendulum body 6 is deflected, particularly from its rest position or from the first position 18, and thereby moved, in particular, into the second position 19. Subsequently, the pendulum body 6 is released, for example, so that it moves relative to the support device 3 and thereby, for example, again reaches the first position 18, in which the pendulum body 6 collides with the motor vehicle 16 and thereby impacts the motor vehicle 16.

[0043] Preferably, the pendulum body 6 has at least one receiving space 20 in which at least one payload 21 can be received or is received, which in particular can be attached to or is attached to the pendulum body 6. For this purpose, the pendulum body 6 has, for example, at least one attachment area via which the payload 21, in particular received in the receiving space 20, is attached.

[0044] The procedure involves, for example, steps S1 to S8, which are described in Fig. 4 are illustrated in a flowchart. In the first step S1, the length L or the respective length L of the pendulum arms 4, 5 is determined. In the second step S2, a first moment of inertia of the first pendulum arm 4 with respect to the pivoting of the first pendulum arm 4 about the first pivot axis 7 is determined, in particular calculated. For example, the pendulum test stand 1 has at least one electronic computing device 22 by means of which this determination of the first moment of inertia is carried out, in particular by calculation. The electronic computing device 22 is in Fig. 1 is shown particularly schematically. In a third of the steps S3, a second moment of inertia of the second of the pendulum arms 5 is determined, in particular calculated, for example by means of the electronic computing device 22. The second moment of inertia is related to the pivoting of the second pendulum arm 5 about the second pivot axis 10.

[0045] In a fourth of the steps S4, a pendulum body mass m imp The pendulum bob 6 is determined. The pendulum bob 6 can be referred to as the impactor in English. Steps S1 to S4 can be performed sequentially, in particular in any order, or simultaneously.

[0046] In order to be able to carry out the pendulum test with particular precision, it is provided that, for example in a fifth of the steps S5, in particular by means of the electronic computing device 22, a target mass of the payload 21 is determined as a function of the determined length L or the respective determined length L, of the determined moments of inertia, of the determined pendulum body mass and as a function of a reference mass m refis determined, in particular calculated. Furthermore, for example in a sixth of the steps S6, the payload 21, which has the determined target mass, that is, in particular the payload 21 according to the determined target mass, is attached to the pendulum body 6. For this purpose, the payload 21, in particular according to the determined target mass, is arranged or received, for example, in the receiving space 20.

[0047] To enable particularly precise execution of the pendulum test, it is alternatively or additionally provided that, for example in a seventh of the steps S7, a target value of an initial deflection angle φ0 is determined as a function of the determined length L or the respective determined length L, of the determined moments of inertia, of the determined pendulum body mass m imp and from an impact velocity v imp, for example by means of the electronic computing device 22, is determined, in particular calculated. With the impact velocity v imp The pendulum body 6 is to collide with the motor vehicle 16 during the pendulum test, particularly over the impact area 17. Specifically, the pendulum body 6 collides with the motor vehicle 16 during the pendulum test while the pendulum body 6 reaches the impact velocity v. imp , exhibits. In one of the eighth steps S8, the pendulum body 6 is deflected, for example, with the determined target value as the initial deflection angle φ0, and thereby moved, for example, from the first position 18 to the second position 19. The determination of the initial deflection angle φ0 incorporates, for example, an acceleration due to gravity g and a center of gravity position L. COG one, as will be explained in more detail later.

[0048] For example, in the pendulum test, the impact velocity, particularly as a target value, is predetermined or predefined. For example, the impact velocity is greater than 0 km / h and less than 10 km / h. For example, the impact velocity is greater than 2.0 km / h. For example, the impact velocity is less than 5 km / h. For example, the impact velocity is 2.6 km / h or 4.1 km / h. By determining the target value of the initial deflection angle φ0, the initial deflection angle φ0 required to achieve the defined impact velocity in the pendulum test can be determined. This allows the pendulum test to be carried out with particular precision and in a very cost-effective manner, as, for example, complex tests to determine the initial deflection angle can be avoided.

[0049] Preferably, the target value of the initial deflection angle φ0 is determined by a model describing the deflection of the pendulum bob 6, particularly when moving between positions 18 and 19. This model can be referred to as a computational model or a simulation model. This model is explained below using an example. In contrast to conventional models, this model includes masses for the pendulum arms 4 and 5. This means that the pendulum arms 4 and 5 are not assumed to be massless in this model. Furthermore, this model specifically takes into account that when the pendulum bob 6 is deflected, i.e., when moving between positions 18 and 19, the pendulum bob 6 does not undergo a rotational motion, but rather a translational motion, which is also a difference from conventional models.This translational movement results from the articulated connection of the pendulum body 6 to the pendulum arms 4, 5 via the coupling points C, D. When the pendulum body 6 is deflected, that is, in particular when the pendulum body 6 is moved between positions 18, 19, the pendulum arms 4, 5 perform a rotational movement, which can be described as a pivoting movement. This is preferably also taken into account in the model. As in . Fig. 2 and Fig. As can be seen particularly well in Figure 3, the pendulum device 2 has, for example, four components that are movable or can be moved, especially during the pendulum test, namely the pendulum arms 4, 5, the pendulum body 6 and the payload 21. Accordingly, the model kinematically represents a mechanical system that includes the pendulum arms 4, 5, the pendulum body 6 and the payload 21.

[0050] To formulate a differential equation describing the motion of such a mechanical system, the principle of angular and linear momentum, d'Alembert's principle, and the Lagrange equations of the second kind are conceivable. Here, the Lagrange equations of the second kind are used because they allow for a particularly precise and efficient description of the mechanical system. Accordingly, the aforementioned model is based on the differential equation formulated, or to be formulated, by the Lagrange equations of the second kind. The Lagrange equations of the second kind can be represented in the following form: ddt(∂(Ekin,total−Epot,total)∂q˙j)−∂(Ekin,total−Epot,total)∂qj=0, j=1,...f

[0051] E is involved kin,totala total kinetic energy of the mechanical system or the pendulum device 2. Furthermore, E pot,total The total potential energy of the mechanical system or the pendulum device is denoted by 2. f, which corresponds to a number of degrees of freedom of the mechanical system. These degrees of freedom are, in particular, independent degrees of freedom.

[0052] E kin,total and E pot,total can be calculated using the following formulas: Ekin,total=Ekin,impactor+Ekin,PA1+Ekin,PA2 Epot,total=Epot,impactor+Epot,PA1+Epot,PA2

[0053] As already mentioned, the kinetic energy of the pendulum bob 6 and the payload 21 are to be modeled as translational kinetic energy in the model, and the kinetic energy of the pendulum arms 4, 5 as rotational kinetic energy. Since the payload 21 is attached, in particular directly, to the pendulum bob 6, the payload moves with the pendulum bob 6 when the pendulum bob 6 moves. Therefore, in the following, the kinetic energy of the payload 21 is added to the kinetic energy of the pendulum bob 6, resulting in the kinetic energy E kin, imp The kinetic energy of the pendulum bob 6 and the payload 21 is to be understood. E kin, imp can be calculated using the following formula: Ekin,imp=Ekin,trans=12⋅(mimp+mpay)⋅(v→imp)2=12⋅(mimp+mpay)⋅(−φ˙⋅L)2

[0054] Here, φ̇ is the first time derivative of the deflection angle φ.

[0055] The kinetic energy E kin,PA1and E kin,PA2 The pendulum arms 4, 5 can be calculated using the following formulas: Ekin,PA1=12⋅θz,PA1A⋅φ˙2 Ekin,PA2=12⋅θz,PA2B⋅φ˙2

[0056] For the potential energy E pot, imp of the pendulum body 6 including the payload 21, for the potential energy E pot, PA1 of the first pendulum arm 4 and the potential energy E pot, PA2 The following relationships apply to the second pendulum arm 5: Epot,imp=(mimp+mpay)⋅g⋅L⋅(1−cos(φ)) Epot,PA1=mPA1⋅g⋅LCOG1⋅(1−cos(φ)) Epot,PA2=mPA2⋅g⋅LCOG2⋅(1−cos(φ)) L COG1 is a first distance between a center of mass E of the first pendulum arm 4 and the first attachment point A. L COG2 is a second distance between a center of mass F of the second pendulum arm 5 and the second attachment point B. m PA1 is a mass of the first pendulum arm 4, and in particular of the first attachment point A. The mass mPA1 can be described as the first mass. m PA2 is a mass of the second pendulum arm 5, and in particular of the second attachment point B. The mass m PA2 can be described as a second mass.

[0057] Subsequently, the Lagrange equation of the second kind can be expressed in the following form: ddt(∂(Ekin,total−Epot,total)∂φ˙)−∂(Ekin,total−Epot,total)∂φ=0∂(Eki n,total−Epot,total)∂φ˙=[θz,PA1A+θz,PA2θ+(mimp+mpay)⋅L2]⋅φ˙ddt(∂(Eki n,total−Epot,total)∂φ˙)=[θz,PA1A+θz,PA2B+(mimp+mpay)⋅L2]⋅φ¨∂(Ekin, total−Epot,total)∂φ=−[(mimp+mpay)⋅L+mPA1⋅LCOG1⋅mPA2⋅LCOG2]⋅g⋅sin(φ) The following relationship can be derived: [θz,PA1A+θz,PA2B+(mimp+mpay)⋅L2]⋅φ¨ +[(mimp+mpay)⋅L+mPA1⋅LCOG1+mPA2⋅LCOG2]⋅g⋅sin(φ)=0

[0058] Subsequent transformation can yield the following differential equation: φ¨=−g⋅[(mimp+mpay)⋅L+mPA1⋅LCOG1+mPA2⋅LCOG2][θz,PA1A+θz,PA2B+(mimp+mpay)⋅L2]⋅sin(φ)

[0059] This differential equation can be simplified by C as follows. p The following will be displayed: φ¨=−Cp⋅sin(φ),with Cp=g[(mimp+mpay)⋅L+mPA1⋅LCOG1+mPA2⋅LCOG2][θz,PA1A+θz,PA2B+(mimp+mpay)⋅L2]

[0060] To simplify the solution of the differential equation, it is advantageous to use the so-called small-angle approximation, in which sine (φ) is assumed to be φ.

[0061] Experiments show that the lift angles necessary to meet legal requirements (especially to achieve the prescribed impact velocities of the pendulum) allow for a small-angle approximation.

[0062] In the following, we consider state 0, where φ = φ0 and the pendulum is at rest or held in place. We also consider state 1, where, in particular, φ = φ1. Here, 0 < φ1 < φ0. Due to the conservation of energy between states 0 and 1, the following relationships can be established: Ekin,total0+Epot,total0=Ekin,total1+Epot,total1=const.

[0063] Since the pendulum has no velocity in state 0, E kin,total0 Zero, from which it follows: Epot,total0=Ekin,total1+Epot,total1

[0064] If the kinetic and potential energies are inserted into this formula, the following relationship results: [(mimp+mpay)⋅L+mPA1⋅LCOG1+mPA2⋅LCOG2]⋅g⋅(1−cos(φ0)) =12⋅θz,PA1A⋅φ˙2+12⋅θz,PA2B⋅φ˙2+12(mimp+mpay)⋅(−φ˙⋅L)2 +[(mimp+mpay)⋅L+mPA1⋅LCOG1+mPA2⋅LCOG2]⋅g⋅(1−cos(φ1))

[0065] If φ̇ is thereby −v→impL is replaced and according to the impact speed v imp When solved, the following formula results, assuming that v imp is a scalar quantity. |v→imp|=2⋅[(mimp+mpay)⋅L+mPA1⋅LCOG1+mPA2⋅LCOG2]⋅g⋅(cos(φ1)−cos(φ0))(θz,PA1A+θz,PA2BL2)+(mimp+mpay)

[0066] This can be achieved through C p can be simplified as follows: vimp=2⋅Cp⋅L2⋅(1−cos(φ0))

[0067] Here, g is the acceleration due to gravity. Rearranging the formula yields the following formula, which is used to calculate the target value of the initial deflection angle φ0: φ0=arccos(1−vimp22⋅Cp⋅L2)

[0068] It is thus evident that the differential equation described here is a second time derivative φ̈ of the initial deflection angle φ of the pendulum bob 6. This differential equation is based on an energy conservation approach, in which the total kinetic energy of the pendulum device 2 is expressed as a sum of translational kinetic energy E. kin, imp of the pendulum body 6, in particular including the payload 21, and the rotational kinetic energy E kin,PA1 , E kin,PA2 The pendulum arms 4 and 5 are described. Furthermore, it is evident that the determination of the target value of the initial deflection angle φ0 as a function of the determined distances L is involved. COG1 , L COG2This is done. Determining these distances takes place, for example, during a step S1*, which is performed simultaneously with the first step S1, or alternatively before or after the first step S1.

[0069] The reference mass m ref For example, the total mass of all components of the pendulum device 2 to be moved during the pendulum test, namely, for example, the pendulum arms 4, 5, the pendulum body 6 and the payload 21, is the reference mass m. ref a vehicle mass of the motor vehicle 16.

[0070] The following formula describes the total kinetic energy for a collision time E total, imp . Etotal,imp=12⋅(mimp+mpay)⋅(−φ˙⋅L)2+12⋅(θz,PA1A+θz,PA2B)⋅φ˙2

[0071] The point of collision is the point in time at which the pendulum device 2 above the pendulum body 6, in particular by means of the impact area 17, impacts the motor vehicle 16, i.e. collides with the motor vehicle 16.

[0072] In this embodiment, determining the target mass of the payload m is based on pay based on an energy conservation approach for kinetic energy at the time of collision. This energy conservation approach is represented by the following formula: 12⋅(mimp+mpay)⋅(−φ˙⋅L)2+12⋅(θz,PA1A+θz,PA2B)⋅φ˙2=12⋅mref⋅vimp2

[0073] In this energy conservation approach, the sum of the translational kinetic energy E is kin, imp of the pendulum body 6 including the payload 21 and the rotational kinetic energy E kin, PA1, PA2 The pendulum arms 4, 5 at the time of collision are equated with a kinetic energy of a reference mass m refthe reference body 23, which in this case is the motor vehicle 16. At this time of collision, the deflection angle φ is zero. By substituting v imp = - φ̇ * L, results in the following: 12⋅(θz,PA1A−θz,PA2B)⋅(−vimpL)2+12⋅(mimp+mpay)⋅vimp2=12⋅mref⋅vimp21 2⋅(θz,PA1AL2+θz,PA2BL2)⋅(−vimp)2+12⋅(mimp+mpay)⋅vimp2=12⋅mref⋅vimp2

[0074] By rearranging the formula, the following formula can be determined, which is used to calculate the target mass of the payload 21: mpay=mref−(θz,PA1AL2+θz,PA2BL2)−mimp

[0075] Furthermore, in the exemplary embodiment, it is provided that the determination of the target value of the output deflection angle φ0 depends on the determined target mass of the payload 21 or m. pay This is done. The determined payload can be used for this purpose. payinto the above-mentioned formula for calculating the target value of the output deflection angle φ0.

[0076] Fig. Figure 5 shows a schematic diagram to illustrate the initial deflection angle φ0 for an impact velocity v. imp , which, for example, is 4.1 km / h. The mass m is on the abscissa 24. pay The payload is plotted on ordinate 21, given in kilograms. The initial deflection angle φ0 is plotted on ordinate 25, given in degrees.

[0077] Out of Fig. As can be seen in Figure 5, in the present pendulum test using the pendulum device 2, the initial deflection angle φ0, in order to achieve a specific impact velocity, depends on the mass of the payload 21. This is shown in Fig. 5 illustrated by a first line 26. This contrasts with a conventional mathematical pendulum, where the deflection velocity φ0 is constant over the mass of the payload 21. This is in Fig. 5 illustrated by a second line 27.

[0078] Thus, in contrast to the conventional mathematical pendulum, the described model allows the initial deflection angle φ0 to be determined with particular precision, making the pendulum experiment particularly precise and, in particular, particularly reproducible.

[0079] In particular, it is advantageous if the entire pendulum is height-adjustable in order to correctly set the legally prescribed pendulum height (e.g., 16 inches). This can be done, for example, with a suitable height adjustment device 31, which can also simply be referred to as a height adjustment mechanism. For example, the height adjustment device 31 is part of the pendulum assembly 2. This is shown in Fig.Figure 6 illustrates the pendulum device 2 in a schematic partial view. Preferably, the height of the pendulum body 6, extending in the vehicle vertical direction 9 of the motor vehicle 16, including the impact area 17, can be adjusted relative to the motor vehicle 16 by means of the height adjustment device 31. By adjusting the height using the height adjustment device 31, the impact on the motor vehicle 16 via the impact area 17 can be carried out at the desired height, for example, as required by law. Alternatively or additionally, it is possible to move the motor vehicle 16 in the vehicle vertical direction 9 relative to the pendulum device 2.The height can be adjusted by means of the height adjustment direction 31 by making the pendulum arms 4, 5, in particular the attachment points A, B, movable or being moved translationally relative to the support device 3 in the vehicle vertical direction 9.

[0080] Overall, the examples show how a method for the design, control and evaluation of pendulum tests, for example according to US CRF PART 581, ECE R42 and GB 17354-2024, can be implemented. Reference symbol list 1 Pendulum test stand 2 Pendulum device 3 Support device 4 first pendulum arm 5 second pendulum arm 6 pendulum bodies 7 first pivot axis 8 first storage facility 9 Vehicle lifting direction 10 second pivot axis 11 second storage facility 12 Vehicle longitudinal direction 13 Vehicle transverse direction 14 third pivot axis 15 fourth pivot axis 16 motor vehicle 17 Area of ​​application 18 first position 19 second position 20 Recording area 21 Payload 22 electronic computing equipment 23 Reference bodies 24 Abscissa 25 ordinates 26 first line 27 second line 31 Height adjustment device A first attachment point B second attachment point C first coupling point The second coupling point E Center of mass of the first pendulum arm F Center of mass of the second pendulum arm S1 first step S1* further step S2 second step S3 third step S4 fourth step S5 fifth step S6 sixth step S7 seventh step S8 eighth step

Claims

Method for performing a pendulum test using a pendulum device (2) comprising a support structure (3), at least two pendulum arms (4, 5) and a pendulum body (6), in which a motor vehicle (16) is acted upon by the pendulum device (2) via the pendulum body (6), comprising the steps: • Determining (S1) a length (L) of the pendulum arms (4, 5); • Determining (S2) a first moment of inertia (θ z , PA 1 A ) one of the first pendulum arms (4), which is held at a first attachment point (A) about a first pivot axis (7) relative to the support device (3) so as to pivot about a first pivot axis (7); • Determine (S3) a second moment of inertia ( θ z , PA 2 B ) of the second of the pendulum arms (5), which is held on the support device (3) at a second attachment point (B) about a second pivot axis (10) relative to the support device (3), with reference to a pivoting of the second pendulum arm (5) about the second pivot axis (10); • Determining (S4) a pendulum body mass (m imp ) of the pendulum body (6), which is pivotally coupled to the first pendulum arm (4) at a first coupling point (C) and pivotally coupled to the second pendulum arm (5) at a second coupling point (D); and o Determining (S5) a target mass of a payload (21) (m pay ), which is to be attached to the pendulum body (6), depending on the determined length (L), on the determined moments of inertia ( θ z , PA 1 A , θ z , PA 2 B ) , from the determined pendulum body mass (m imp ) and from a reference mass (m ref ) and securing (S6) the load (21) (m pay ), which has the determined target mass, on the pendulum body (6), and / or ◯ Determining (S7) a target value of an output deflection angle (φ) 0 ) depending on the determined length (L), on the determined moments of inertia ( θ z , PA 1 A , θ z , PA 2 B ) , from the determined pendulum body mass (m imp ) and from an impact velocity (v imp ), with which the pendulum body (6) is to collide during the pendulum test with the motor vehicle (16) and deflection (S8) of the pendulum body (6) with the determined target value as the initial deflection angle (φ 0 ). Method according to claim 1, wherein • the reference mass (mref) corresponds to a total mass of all components of the pendulum device (2) to be moved in the pendulum test and / or • the reference mass (mref) corresponds to a vehicle mass of the motor vehicle (16). Method according to claim 1 or 2, wherein the determination of the target mass of the payload (mpay) is based on an energy conservation approach of kinetic energy for a collision time at which the pendulum device (2) acts on the motor vehicle (16) via the pendulum body (6), wherein in this energy conservation approach a sum of translational kinetic energy of the pendulum body (6), translational kinetic energy of the payload (21) and rotational kinetic energy of the pendulum arms (4, 5) is equated with a kinetic energy of a reference body (23) having the reference mass (mref). Method according to one of the preceding claims, wherein the determination of the target mass of the payload (21) is carried out by calculation using the following formula: mpay = mref − ( θ z , PA 1 AL 2 + θ z , PA 2 BL 2 ) − mimp . Method according to one of the preceding claims, wherein the determination of the target value of the output deflection angle (φ0) is carried out as a function of the determined target mass of the payload (21) (mpay). Method according to one of the preceding claims, wherein a first distance (LCOG1) between a center of mass (E) of the first pendulum arm (4) and the first attachment point (A) is determined and a second distance (LCOG2) between a center of mass (F) of the second pendulum arm (5) and the second attachment point (B) is determined and the determination (S7) of the target value of the output deflection angle (φ0) is carried out as a function of the determined distances (LCOG1, LCOG2). Method according to one of the preceding claims, wherein a first mass (mPA1) of the first pendulum arm (4), and in particular of the first attachment point (A), is determined and a second mass (mPA2) of the second pendulum arm (5), and in particular of the second attachment point (B), is determined and the determination (S7) of the target value of the output deflection angle (φ0) is carried out as a function of the determined first mass (mPA1) and the determined second mass (mPA2). Method according to one of the preceding claims, wherein the determination (S7) of the target value of the output deflection angle (φ0) is carried out by a model describing the deflection of the pendulum body (6), which is based on a differential equation established by Lagrange equations of the second kind, which describes a second time derivative (φ̈) of the deflection angle (φ) of the pendulum body (6). Method according to claim 8, wherein the differential equation is based on an energy conservation approach in which the total kinetic energy of the pendulum device (2) is described by a sum of translational kinetic energy of the pendulum body (6), translational kinetic energy of the payload (21) and rotational kinetic energy of the pendulum arms (4, 5). Method according to claims 6 and 7, wherein the determination (S7) of the target value of the output deflection angle (φ0) is carried out by calculation using the following formula: φ0 = arccos (1 − vimp22 ⋅ Cp ⋅ L2) , with Cp = g [ (mimp + mpay) ⋅ L + m PA1 ⋅ LCOG1 + m PA2 ⋅ LCOG2] [θz, PA1A + θz, PA2B + (mimp + mpay) ⋅ L2] , where g is the acceleration due to gravity. Pendulum test stand (1) which is designed to carry out a method according to one of the preceding claims.

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